It worked! I just tested my idea by opening ca_collections_default_html.php and copying the whole block for displaying objects.
I pasted the block into ca_objects_default_html.php and only needed 2 changes.
I changed ifcount code="ca_objects" to ifcount code="ca_objects.children".
Then for the indexing access point I changed 'search' => 'collection_id:^ca_collections.collection_id' to 'search' => "children:$vn_id".
All that's left to do is make an easy-to-use link pointing back to the parent object detail page.
@ebarthel I like the idea of having a custom template for the children. I will consider something like that in the future.